Closed loop apparatus for cutting sheet material

ABSTRACT

A method and apparatus for cutting sheet material utilizes a closed loop automatically controlled cutting machine having a reciprocating cutting blade as the cutting tool. Sheet material to be cut is spread in multiple plies to form a layup, and the cutting blade and the material are then moved relative to one another in cutting engagement along predefined lines of cut. During cutting, a sensor detects a cutting parameter that is affected by the interaction of the cutting blade and sheet material, and signals provided by the sensor are fed back in the closed loop automatic control mechanism to adjust or initiate further steps in the cutting operation. Such adjustment or initiation alters the cutting machine operation for cutting conditions in real time in order to improve the overall performance of the machine.

CROSS REFERENCE TO RELATED APPLICATIONS

This application contains subject matter disclosed in related copendingapplications of the same inventor Ser. No. 790,035 filed Apr. 22, 1977and entitled Method and Apparatus for Cutting Sheet Material WithImproved Accuracy and Ser. No. 789,848 filed Apr. 22, 1977 entitledMethod of Cutting Sheet Material With Scheduled Supplementation.

BACKGROUND OF THE INVENTION

The present invention relates to a apparatus for cutting sheet materialwith a closed loop control. More particularly, the present inventionrelates to an automatically controlled machine for cutting sheetmaterial with a cutting tool such as a reciprocating blade and means forsensing a cutting parameter during cutting in order to adapt theautomatic controls to existing conditions and improve overallperformance.

It is well known to use automatically controlled cutting machines forcutting limp sheet material used in garments, upholstery, and otheritems. Such machines conventionally derive information defining thearticles or patterns to be cut from a marker. The marker is a closelyarranged array of pattern pieces in positional relationship for cuttingfrom a layup of sheet material. The contours of the pattern pieces whichdefine the cutting paths to be followed by the cutting blade are the rawdata which are utilized by the automatically controlled cutting machinein guiding the cutting blade, and such data is translated by the machineinto machine commands by appropriate hardware. For example, the markermay be digitized to reduce the contours to point data and then the pointdata is processed through a computer or data processor to generatemachine commands which translate the cutting blade and sheet materialrelative to one another. The marker data may be preprocessed andrecorded for subsequent use in a cutting machine or the data may beprocessed during the cutting operation.

Other information systems may be used for acquiring and then using theraw data. For example, line followers may be used to transpose markerdata from graphic material or templates, and the data can then beprocessed by other hardware which may include either analog or digitalequipment, for example.

In most prior art cutting systems which are automated, the cuttingoperation is substantially fixed by pre-established programs and themarker data. Thus, the maneuvering of the cutting blade along a desiredline of cut is controlled in accordance with relatively standardroutines that have proven in general to be suitable for many cuttingconditions but not necessarily all cutting conditons nor unanticipatedconditions. For example, the standard cutting operation may not besuitable or may produce poor results with certain types of limp sheetmaterial, with layups of substantial depth and even within a singlelayup displaying different cutting characteristics under differentconditions. In U.S. Pat. No. 3,803,960, a system is disclosed whichconstitutes an improvement over the earlier systems in that some degreeof flexibility in the cutting program is provided by allowing the persondigitizing the marker to call for special cutting blade maneuvers, suchas yawing and reduced feed rates, under limited circumstances. Yawingrefers to the rotation of a cutting blade away from a position tangentto a cutting path or parallel with the path velocity vector of theblade. Still, a more flexible and a more responsive control system isdesirable.

Accordingly, it is desirable to have an automatic cutting machine whichis responsive to different cutting conditions as they occur in a cuttingoperation. By adjusting or initiating special control functions duringthe course of the cutting operation in response to a sensed condition,the overall performance of an automatically controlled cutting machineand the quality of the resulting product will be improved.

A closed loop control system for an automatically controlled cuttingmachine is disclosed in U.S. Pat. No. 3,848,490 having the same assigneeas the present invention. In the prior art patent, a pressure sensor isutilized to detect previous cuts in the sheet material in the immediatevicinity of the cutting blade, and corrective adjustment in theautomatic blade control mechanism is made in response to feedbacksignals generated by the pressure sensor. The corrective adjustment mayreduce the feed rate as the cutting blade passes the previous cut or theblade may be given yaw commands which rotate the blade slightly out ofalignment with the desired cutting path in the same region.

It is believed that more meaningful information concerning the cuttingoperation can be derived continuously from the interaction of thecutting blade and sheet material and corrective adjustment and otheroperations can be regulated accordingly. It is, therefore, a generalobject of the present invention to provide a closed loop method andapparatus for controlling a cutting blade by sensing one or more cuttingparameters as the blade advances in cutting engagement with the materialand then utilizing the parameters to modify the cutting operation.

SUMMARY OF THE INVENTION

This invention resides in a closed loop apparatus for cutting sheetmaterial. The apparatus is comprised of an automatically controlledcutting machine having a cutting blade and a cutting table defining asupport surface on which the sheet material is positioned in a spreadcondition during cutting. Motor means move the cutting blade and sheetmaterial relative to one another in cutting engagement, and controlmeans are connected with the motor means to provide control signalswhich guide the cutting blade through the material along a predeterminedcutting path.

Sensing means is operatively connected with the cutting blade and sheetmaterial for detecting a cutting parameter manifested by the blade andmaterial during the cutting operation and for producing a correspondingsignal representative of the parameter. For example, a load sensorconnected with the cutting blade senses forces produced on the blade bythe interaction of the blade and material, and the forces are animportant parameter revealing the then-existing conditons of the cuttingoperation.

Feedback means interconnect the sensing means and the control means togenerate additional control signals and guide the cutting blade throughthe sheet material in accordance with the sensed cutting parameter. Incases where the sensor is a load sensor, the feedback signals from thesensor may be utilized to yaw the cutting blade, adjust the feed rate,change the blade or stroking speed, or perform other maneuvering orcontrol functions.

The sensing and feedback means provide blade intelligence to the cuttingmachine and allow functional changes to take place in the closed loopcontrol system in real time. The overall cutting operation is improvedand the resulting product may be cut more accurately with ease under avariety of circumstances.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an automatically controlled cuttingmachine in which the present invention may be employed.

FIG. 2 is a schematic diagram illustrating a closed loop control systemfor the machine in one embodiment of the invention.

FIG. 3 is a fragmentary side elevation view, but with parts shown insection, of a presser foot around the cutting blade with sensors fordetecting cutting parameters.

FIG. 4 is a top plan view of the presser foot and sensors in FIG. 3.

FIG. 5 is a cross sectional view of the cutting blade and sheet materiallayup illustrating the effects of lateral loading on the blade.

FIG. 6 is a fragmentary plan view of the cutting blade cutting through awoven sheet material at an angle to the fibers.

FIG. 7 is a fragmentary plan view of the sheet material layup andillustrates automatic blade maneuvering produced by the closed loopcontrol system in FIG. 2.

FIG. 8 is a diagram illustrating the feed rate variation caused by theclosed loop control system in FIG. 2 along the cutting path illustratedin FIG. 7.

FIG. 9 is a schematic diagram illustrating a closed loop control systemfor the machine in another embodiment of the invention.

FIG. 10 is a schematic diagram illustrating a closed loop control systemin still another embodiment of the invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

FIG. 1 illustrates an automatically controlled cutting machine,generally designated 10, of the type in which the present invention maybe employed. The cutting machine 10 cuts pattern pieces in a marker froma single or multi-ply layup L of sheet material formed by woven ornon-woven fabrics, paper, cardboard, leather, synthetics or othermaterials. The illustrated machine is a numerically controlled cuttingmachine having a control or computer 12 serving the function of a dataprocessor, a reciprocated cutting blade 20, and a cutting table 22having a penetrable vacuum bed 24 defining a support surface on whichthe layup is spread. From a program tape 16, the computer 12 reads thedigitized data defining the contours of the pattern pieces to be cut andfrom an internally stored cutting machine program generates machinecommands that are transmitted to the cutting table by means of a controlcable 14. Signals generated at the table as described in greater detailbelow are also transmitted from the table back to the computer 12through the cable. While a program tape has been illustrated as thebasic source of cutting data, it will be appreciated that other digitalor analog data input devices, such as a line follower illustrated anddescribed in the referenced copending application Ser. No. 790,035entitled Method and Apparatus for Cutting Sheet Material with ImprovedAccuracy may be employed with equal facility.

The penetrable vacuum bed 24 may be comprised of a foamed material orpreferably bristles having upper, free ends defining the support surfaceof the table. The bristles can be penetrated by the reciprocated cuttingblade 20 without damage to either the blade or table as a cutting path Pis traversed in the layup. The bed employs a vacuum system including thevacuum pump 25 as described and illustrated in greater detail in U.S.Pat. Nos. 3,495,492 and 3,765,289 having the same assignee as thepresent invention.

Although not shown in FIG. 1, an air impermeable overlay, may bepositioned over the multi-ply layup L to reduce the volume of air drawnthrough the layup. The vacuum system then evacuates air from the bed 24and the layup L as shown in FIG. 3 in order to make the layup more rigidand to compress or compact the layup firmly in position on the table atleast in the zone where the cutting tool operates. A rigidized layuptends to react to the cutting blade more uniformly and hence is"normalized". A rigidized layup also improves the performance of thepresent invention as described in greater detail below.

The reciprocated cutting blade 20 is suspended above the support surfaceof the table by means of the X-carriage 26 and Y-carriage 28. TheX-carriage 26 translates back and forth in the illustrated X-coordinatedirection on a set of racks 30 and 32. The racks are engaged by pinions(not shown) rotated by an X-drive motor 34 in response to machinecommand signals from the computer 12. The Y-carriage 28 is mounted onthe X-carriage 26 for movement relative to the X-carriage in theY-coordinate direction and is translated by the Y-drive motor 36 and alead screw 38 connecting the motor with the carriage. Like the drivemotor 34, the drive motor 36 is energized by machine command signalsfrom the computer 12. Coordinated movements of the carriages 26 and 28are produced by the computer in response to the digitized data takenfrom the program tape 16 to translate the reciprocating cutting blade 20along a cutting path P.

The cutting blade 20 is suspended in cantilever fashion from a rotatableplatform 40 attached to the projecting end of the Y-carriage 28. Theplatform and the cutting blade are rotated about a θ-axis (FIG. 3)extending longitudinally through the blade perpendicular to the sheetmaterial by means of a θ-drive motor 44 (shown in FIG. 2) which is alsocontrolled from the computer 12. The motor 44 and rotatable platformserve the function of orienting the cutting blade at each point alongthe cutting path P. The rotatable platform 40 is vertically adjustableand elevates the sharp, leading cutting edge of the blade into and outof cutting engagement with sheet material on the table. An elevationmotor (not shown) for moving the platform is also controlled by thecomputer 12. The cutting blade is also reciprocated by means of astroking motor 42 supported above the platform 40. For a more detaileddescription of a blade driving and supporting mechanism, reference maybe had to U.S. Pat. No. 3,955,458 issued to the assignee of the presentinvention.

A presser foot 50 shown in greater detail in FIGS. 3 and 4 is suspendedfrom the rotatable platform 40 by means of two vertical posts 52 and 54which are slidably connected with the platform so that the presser footrests upon the upper ply of the layup under its own weight duringcutting. The presser foot surrounds the cutting blade 20 and has acentral slot 56 through which the blade reciprocates. The cutting bladeand the foot rotate together about the θ-axis with the platform 40, and,therefore, the same positional relationship between the blade and thefoot is maintained at all times. Accordingly, the sharp, leading cuttingedge of the blade and the flat trailing edge are aligned in a centralplane of the foot between the support posts 52 and 54, and the posts arealways disposed rearwardly of the blade as it advances along a cuttingpath P.

In accordance with one aspect of the present invention, bladeintelligence or information defining a cutting parameter is derived fromthe cutting blade and is fed back to the computer 12 for closed loopcontrol of the machine 10 in order to produce supplemental machinecommand signals which adjust or add to the fundamental machine commandsignals and modify the motions of the cutting blade or initiate othermachine functions.

FIG. 2 illustrates an exemplary closed loop control system and themanner in which a sensed cutting parameter is utilized to maneuver theblade. Cutting data on the program tape 16 or from another source isutilized by the cutting machine program stored in the computer 12 togenerate basic or fundamental machine commands which operate the X-drivemotor 34 and the Y-drive motor 36 and translate the cutting bladerelative to the sheet material layup along a predetermined cutting path.Translational commands which advance the cutting blade relative to thesheet material are generated by displacement logic circuits 60 which maybe found in line follower apparatus, or the like, as well as numericalcontrol apparatus and which include an adjustable feed rate circuit andare transmitted in the form of digital or analog signals to the X- andY-drive motors 34 and 36 through X- and Y-drivers or amplifiers 62 and64 respectively. In addition, in this embodiment of the invention, theangle logic circuits 70 receive cutting data and develop fundamentaldigitial or analog signals which are transmitted to the θ-drive motor 44by means of a θ-driver or amplifier 72. The fundamental signals from theangle logic circuits rotate the cutting blade into positions generallyaligned with or tangent to the cutting path at each point along thepath. Thus, the drive motors 34, 36 and 44 completely define theposition of the cutting blade in the sheet material and the rate atwhich the cutting blade and material are fed relative to one anotherduring the cutting operation.

In order to monitor the cutting operation and make modifications oradditions to the fundamental machine commands while cutting, a lateralload sensor 76 is connected with the cutting blade 20 and generatesfeedback signals which are transmitted to either or both thedisplacement logic circuits 60 and the angle logic circuits 70 forclosed loop control. For example, lateral loading of the cutting bladegenerated by the interaction of the blade and sheet material can be usedto add yaw signals to the θ-command signals and thereby rotate thecutting blade slightly out of a position in alignment with the path. Theyaw signal produced by the logic circuits 70 rotates the cutting bladeand orients the blade so that the cutting edge is aimed slightly towardthe side of the cutting path from which the forces are applied to reduceand preferably null the forces as the blade moves forward along thepath.

FIG. 5 illustrates the problem which is corrected when the lateralforces distributed along both sides of the cutting blade 20 areunbalanced. It will be appreciated that the net lateral forces Fgenerated by the interaction of the blade and sheet material along thedepending end of the blade deflect or bend the blade to the phantomposition. Without corrective action and regardless of the accuracy withwhich the servomechanisms locate the upper end of the blade, the bladewill track a cutting path in the upper ply of the layup slightlydifferent from the cutting path in the lower ply, and the pattern piecesfrom the respective plies will have slightly different shapes.Obviously, all pattern pieces should be identical and correspond to theprogrammed cutting path.

By rotating the cutting blade with yaw signals toward the side of thecutting path from which the forces are applied, the unbalanced forcesbetween the blade and the cloth are reduced, preferably to zero, as theblade advances. When the forces have been reduced, blade bending thematerial shifting are also reduced and the blade tracks the cutting paththrough the material as programmed more accurately.

To this end, the lateral load sensor 76 associated with the bladedetects lateral loads, and feedback signals from the sensor cause theangle logic circuits 70 in the θ-command channel to react to the loadsand produce yaw signals which correct the position of the cutting bladein the sheet material. Within the angle logic circuits of the computer12, the feedback signals may be utilized in various manners to producethe yaw signals which supplement the basic θ-command signals. Forexample, the feedback signals may actually change the logic or algorithmwhich computes the θ-command signal in the computer as suggested in FIG.2, or the feedback signals may be employed in separate circuitry of thecomputer to produce a separate signal that is algebraically combinedwith the θ-command signal as shown in the embodiment of FIG. 9 describedbelow. In effect, the cutting blade in reaction to the forces movesthrough the sheet material without the adverse influence of such bladeforces and associated bending due to the information or bladeintelligence derived by the sensor 76.

In practice, lateral or unbalanced forces on the cutting blade may begenerated for a number of reasons. FIG. 6 illustrates the cutting blade20 advancing in cutting engagement through woven sheet material at anangle to the fibers T and F. The parallel fibers T are shown transverseto the parallel fibers F but could have various geometric relationshipsand other fibers could also be included in the weave. It will beobserved that the fibers T having an acute angular relationship with theblade are pushed slightly to one side by the blade before they are cut.When the fibers are pushed, they exert a reacting force on the blade,and in a multi-ply layup of material the sum of the forces can besubstantial and produce the bending effect shown in FIG. 5. Similareffects are observed in knits and other materials. Factors which affectthe phenomenon illustrated in FIG. 6 include the angular relationshipbetween the cutting blade and fibers, the sharpening angle, bladesharpness, size and shape, and the strength of the fibers.

Another reason for unbalanced forces on the cutting blade is associatedwith the layup. Limp sheet material tends to provide weaker pressure orsupport on the side of the blade close to the edge of the layup or anopening within the layup such as a previous cut. For example, in FIG. 7,a cutting blade 20 is illustrated at successive positions along acutting path P1 as the blade translates closely adjacent a previouslymade cut on the cutting path P2. In the vicinity of the previous cutalong the cutting path P2, the sheet material between the paths canyield more easily, and reduce the lateral support at the one side of theblade adjacent path P2.

With the lateral load sensor connected in the closed loop control systemas illustrated in FIG. 2, the cutting blade in FIG. 7 translates towardthe point of closest approach and is rotated slightly out of alignmentwith the cutting path P1 and away from the previous cut due to theweaker support on the left-hand side of the blade and the higher loadingon the right-hand side. The greatest degree of yaw is observed at thepoint closest to the cutting path P2 to counteract the greatestunbalance in the lateral forces on the blade at this point. Thereafterthe yaw correction signal gradually disappears as the knife progressesalong the cutting path P1 and departs from the cutting path P2. Theillustrated yaw angles of the cutting blade are exaggerated for thepurpose of explanation and in general would not exceed 10°, but anglesas high as 25° or more may be utilized in certain cases. It will beunderstood that it may sometimes be preferable to have the patternpieces closely adjacent rather than tangent. If the paths in FIG. 7 hadbeen tangent, the blade would fall into the previous cut on path P2 nearthe point of tangency, and would experience no lateral loading at thatpoint. With yaw correction derived only from the lateral load sensor 76,no corrective yaw would be available to restore the blade to trackingpath P1 until after the blade had translated in the cut along path P2beyond the tangent point. With a close approach condition as shown,corrective yaw is imposed at all points within the vicinity of path P2and more accurate cutting prevails.

Referring again to FIG. 2, it will be noted that the force feedbacksignals from the sensor 76 are also applied to the displacement logiccircuits 60. Within the circuits 60, the feedback signals command areduction of the feed rate along the cutting path under the samecircumstances which produce the yaw commands in the angle logic circuits70. The reduced feed rate permits the yaw corrections to be made whereneeded along the cutting path in spite of lag in the θ-channelservosystem, and also reduces the overall load factor in the cuttingblade at critical points along the cutting path. Thus, in FIG. 7, thefeed rate of the cutting blade 20 along the path P1 is reduced as theblade translates in close proximity to the previous cut on the cuttingpath P2 and is increased after the point of closest approach has beenpassed. The change in the velocity profile or feed rate of the cuttingblade as the blade moves past the point of closest approach isillustrated in the velocity/displacement diagram of FIG. 8. The minimumvelocity corresponds to the point on the cutting path P1 closest to thecutting path P2.

As indicated above, the displacement and θ-command signals can bemodified by the cutting parameter detected by the sensor 76 eitherindividually or in combination. Furthermore, the sensed cuttingparameter may be utilized to correct or modify other controlledvariables such as the blade speed or stroking rate.

The sensing of blade forces may be accomplished by means of a bladeguide mechanism in the presser foot 50 of FIGS. 3 and 4. Mounted withthe presser foot is a circular mounting plate 80 that supports two guiderollers 82 and 84 disposed at opposite sides of the cutting blade 20 inrolling contact with the blade. Thus, the plate 80 maintains a fixedpositional relationship laterally of the blade and tracks lateralmotions of the blade.

A resilient mount 86 for the plate 80 is secured to the presser foot 50by means of bolts 88 and 90 and includes two flexible arms 92 and 94that are attached to diametrically opposite sides of the plate 80. Thespring constant of the arms 92 and 94 is made relatively high so thatthe rollers 82 and 84 provide a degree of lateral rigidity to thecutting blade, but at the same time, permit limited lateral displacementof the blade under load. Thus, the displacements of the plate 80 aredirectly proportional to the loads applied to the blade and a positiontransducer 96 in the form of a linear variable differential transformer(LVDT) can serve as the lateral load sensor 76 in FIG. 2.

The invention is also advantageously employed in combination with thepenetrable vacuum bed 24 of the cutting machine 10 in FIG. 1. When thelayup L of sheet material has been rigidized by the applied vacuum atleast in the locality of the blade, the forces operating between theblade and the material are generated more rapidly and are greater for agiven error. As a consequence, the force feedback signals have a highersignal quality or clarity and the closed loop control system can providean improved response due to the clearer signal. Furthermore, theresilient bristles in the bed 24 help develop the forces on the bladethrough the material. The free ends of the bristles do not allow thematerial to slip on the support surface of the table and deflectresiliently with the material when forces are generated between theblade and the lowest plies of the layup. Thus, the resilient restraintof the plies by the bristle holds the material and aids in thedevelopment of forces on the lower part of the blade, especially whenthe material is very limp and incapable of transmitting in-planecompression forces.

Another embodiment of the closed loop control system is illustrated inFIG. 9 where corresponding elements bear the same reference numerals asabove. In this embodiment, the angle of the cutting blade is firstcomputed from the cutting data 16 by means of the angle logic 70 andthen is modified or supplemented by both a scheduled yaw program 98 andthe dynamic yaw signal derived from the lateral load sensor 76 connectedwith the cutting blade. The force signal from the sensor is fed back toa yaw correction circuit 100 which generates the yaw signalindependently of the yaw logic circuits 70. This yaw signal derived fromthe sensor is combined with a fundamental θ-command signal and ascheduled yaw signal at a summing node 102. The scheduled yaw signal maybe read from a stored program which is previously established in thecomputer 12 as, for example, a function of the geometry of the cuttingpath, rather than a variable parameter such as the lateral forcesdetected by the sensor 76. Other scheduled yaw signals and the method ofobtaining such signals are described and illustrated in greater detailin the referenced copending applications Ser. Nos. 790,035 and 789,848.

The signals combined at the summing node 102 form a single machinecommand signal that is transmitted to the driver 72 to operate theθ-drive motor 44 and orient the blade. It should be understood that inmost circumstances when scheduled yaw is employed in combination withyaw derived from blade forces, the scheduled yaw program if properlyselected should provide the primary corrections for reducing bladeloading, and more limited and finer corrections are produced by thefeedback signals from the load sensor. Thus, the closed looped controlsystem may be used both alone and in conjunction with other correctionsystems to improve cutting accuracy.

The yaw signal from the correction circuit 100 is also fed to a yaw ratecircuit 104. The rate of change of yaw is derived by the circuit 104 andis transmitted to the displacement logic circuit 60 in place of thefeedback signal for the purpose of reducing the feed rate of the cuttingblade along the cutting path. Thus, the displacement command signalsfrom the circuits 60 reduce the feed rate of the cutting blade wheneveryaw corrections are made and the reduction is proportional to the rateof change of the derived yaw.

FIG. 10 illustrates stil another embodiment of the closed loop controlsystem and again corresponding elements bear the same reference numeralsas above. In this embodiment, the parameters of the cutting operationare monitored by means of a fore-and-aft load sensor 110 which detectsrearward forces applied to the cutting blade as it advances along acutting path. The rearward forces are indicative of a number of cuttingparameters, such as the sharpness of the cutting blade, a broken blade,the density or toughness of the sheet material, the depth of the sheetmaterial layup and an opening in the layup such as that at a previouscut or the edge of the layup.

The fore-and-aft load sensor 110 in the embodiment of the controlillustrated in FIG. 10 is utilized to modify the feed rate in thedisplacement logic circuits 60 and also to initiate operation of a bladesharpener control 112 through a level detector 114. The displacementlogic circuits 60 respond to the feedback signals from the sensor 110 byreducing the feed rate of the cutting blade along the cutting path inthe same manner as the load signals in the embodiment of FIG. 2. Thereduced feed rate causes the reciprocating cutting blade to generatemore cutting strokes for each unit length of cutting path which easesthe cutting burden and at the same time reduces stress caused byfore-and-aft blade loading. Such response of the control mechanism alsoautomatically adjusts the feed rate of the cutting blade in accordancewith the difficulty or toughness of the sheet material being cut, theheight of the layup and the sharpness of the cutting edge of the cuttingblade. If desired, the displacement logic may be limited to reducing thespeed of the cutting blade only above a preselected force level.

The displacement logic circuit may also be adapted to reduce the speedof the cutting blade below a preselected force level. For example, if acutting blade reaches the edge of the sheet material layup or approachesa previous cut in the middle of the layup while the cutting blade istraveling at maximum speed, it is desirable that the speed be reduced.Furthermore, if the blade breaks and the rearward force disappearsentirely, the X- and Y-carriages should stop completely. Thus, thedisplacement logic circuits may include several level detectors tobracket a range of rearward forces in which the blade is expected tooperate.

The rearward force feedback signal applied to the displacement logiccircuits 60 is also applied to the level detector 114 in order togenerate a dull-blade signal whenever the forces exceed a predeterminedlevel above that which causes a variation in the feed rate of thecutting blade. The dull-blade signal is supplied to the sharpenercontrol 112 to initiate operation of a blade sharpener such asillustrated and described in greater detail in U.S. patent applicationSer. No. 648,540 filed on Jan. 12, 1976, now U.S. Pat. No. 4,033,214same assignee as the present invention. Since blade sharpeningoperations are not normally carried out until the cutting blade reachesa convenient stopping point along the cutting path, such as a sharpangle or corner which requires lifting the blade out of engagement withthe sheet material, the dull-blade signal may be utilized to set thesharpener control for operation at the next lifting of the blade.

The rearward force signal can also be used to regulate the blade speedor stroking rate as an alternative to or in conjunction with the feedrate control. In general, heavier rearward forces indicate moredifficult cutting due to heavier or tougher sheet material and thickerlayups. In such situations, a greater number of strokes per unit ofdisplacement are desired, and the feedback signal from load sensor 110readily provides the necessary information for regulating the speed ofthe stroking motor 42 (FIG. 1). If the reduction in rearward forces atthe edge of a layup calls for a reduction in the feed rate of the bladethrough the material, the feedback signal in such case may also reducethe stroking rate to limit the heat generated by the cutting blade andthereby prevent fusing or burning of the sheet material. Of course ablade temperature sensor could perform the same function.

Sensing means for detecting rearward forces applied to the cutting bladeis also illustrated within a presser foot 50 in FIGS. 3 and 4 as part ofthe blade guide mechanism. A guide roller 120 is supported at the flatrear edge of the cutting blade by means of a yoke 122 attached tosupport posts 52 and 54 of the presser foot. The yoke includes resilientarms 124 and 126 which have spring constants selected to permit limitedrearward displacement of the guide wheel 120 and the cutting blade 20when rearward forces are applied to the blade. A position transducer 128in the form of another linear variable differential transformer (LVDT)detects the displacement of the yoke and blade and produces a signalwhich is proportional to both the displacement and the rearward force.Accordingly, the yoke and transducer are equivalent to the load sensor110 in FIG. 10, and provide a feedback signal suitable for use by thedisplacement logic circuitry 60 and the level detector 114.

In summary, an automatically controlled cutting machine has beendisclosed with various embodiments of a closed loop control system thatresponds to cutting parameters in the course of a cutting operation.Intelligence derived from the cutting parameters is fed back in theclosed loop system and modifies or adds to the fundamental machinecommands in order to execute the cutting operation with greateraccuracy, efficiency and ease. Cutting parameters which provide usefulintelligence concerning the interaction of the cutting blade and sheetmaterial include lateral forces, which are generally transverse to thecutting path, and rearward forces, generally in alignment with thecutting path. The energy or power imparted to the cutting blade throughits actuating mechanism may also be monitored by the voltage and currentrequired to drive the stroking motor 42 and still other cuttingparameters such as torque, temperature and heat can provide meaningfulinformation singly or in combination for closed loop control. Once acutting parameter has been detected, feedback signals related to theparameter may be processed by the closed loop control system to modifythe cutting operation according to either linear or non-linearfunctions.

While the present invention has been disclosed in a number ofembodiments, further modifications and substitutions can be made withinthe scope of the invention. Various types of sensing means may beutilized to sense the cutting parameters. For example, instead of theposition transducers which measure the deflection of the cutting bladeproduced by the forces, a strain gauge may be attached outside or withinthe blade or its supporting structure for the same purpose. Of course,other types of sensors such as optical, thermal, capacitive or magneticsensors may also be used. While the sensors illustrated and describedhave been associated more directly with the cutting blade, theinteraction of the blade and sheet material can have equal or moresignificant effects upon the sheet material and thus sensors connectedmore closely with the material may be utilized. The invention hasutility with other types of cutting blades such as blades shown in U.S.Pat. No. 3,245,295 which cooperate with a foot that moves under thelayup on a non-penetrable bed. The closed loop control system may beintermittently activated or may provide increased correction in responseto signals identifying critical cutting locations such as points oftangency or close approach. For example, in systems utilizing linefollowers, a point of tangency may be identified by the line follower asthe tangency comes into view and the line follower may increase theresponse to the feedback signal from the cutting blade to increase theamount of yawing or slowdown produced by the blade forces. Of course, inother systems, identification of critical locations may be obtained fromother sources such as an automatic marker generator which establishesthe positioning of the pattern pieces in a marker or the controlcomputer 12 which processes the digitized data and produces the machinecommands. Accordingly, the invention has been described and shown inseveral forms by way of illustration rather than limitation.

I claim:
 1. An automatically controlled cutting machine for accuratelycutting limp sheet material comprising:a cutting blade; a cutting tabledefining a support surface on which sheet material is positioned in aspread condition for cutting by the cutting blade; motor means formoving the cutting blade and the sheet material relative to one anotherin cutting engagement; control means connected with the motor means andproviding control signals to the motor means for guiding the cuttingblade through the material along a predetermined cutting path; sensingmeans operatively associated with the cutting blade and sheet materialfor detecting lateral forces applied to the blade by the material as theblade advances through the material in cutting engagement, the sensingmeans also producing a signal corresponding to the detected lateralforces; and feedback means interconnecting the sensing means and thecontrol means for generating additional control signals to regulate thecutting of the material by the blade along the predetermined cuttingpath in response to the detected forces.
 2. Apparatus for cutting limpsheet material as defined in claim 1 wherein the sensing means comprisesa load sensor for sensing forces applied laterally to the blade by thematerial.
 3. Apparatus for cutting as defined in claim 2 wherein theload sensor is connected with the blade to detect lateral loads appliedto the blade.
 4. Apparatus for cutting sheet material as defined inclaim 1 wherein:a blade guide is provided in the cutting machine andsupports the blade along an axis generally perpendicular to the sheetmaterial spread on the cutting table; and the sensing means comprises aload sensor interposed between the blade guide and the cutting machineto detect blade loading during cutting.
 5. Apparatus as defined in claim4 wherein a presser foot surrounding the cutting blade is also providedin the cutting machine and rests upon the sheet material during cutting;and the blade guide and load sensor are mounted in the presser foot. 6.Apparatus for accurately cutting sheet material as defined in claim 1wherein:the cutting blade extends through the sheet material along anaxis generally perpendicular to the material; the motor means includesmeans for rotating the blade and sheet material relative to one anotherabout the perpendicular axis to orient the blade along the cutting pathat each point; and the feedback means is connected with the means forrotating for orienting the cutting blade in accordance with the detectedlateral forces.
 7. Apparatus for cutting sheet material as defined inclaim 6 wherein the sensing means is a sensor detecting side loads uponthe cutting blade and the feedback means and the means for rotating thecutting blade are interconnected to rotate the cutting blade in adirection that reduces the side loads.
 8. An automatically controlledcutting machine as described in claim 1 wherein:the cutting blade is areciprocating cutting blade; and the cutting table has a penetrable beddefining the support surface on which the material is spread, the bedbeing penetrable by the cutting blade as the blade reciprocates duringcutting.
 9. An automatically controlled cutting machine as defined inclaim 8 wherein the penetrable bed is comprised of bristles having freeends substantially in a common plane defining the support surface of thetable whereby the blade penetrates through the support surface andbetween the bristles during cutting.
 10. An automatically controlledcutting machine as defined in claim 9 further including means forgenerating a vacuum within the bristles for rigidizing the sheetmaterial spread on the support surface.
 11. An automatically controlledcutting machine for cutting limp sheet material as defined in claim 1further including means for evacuating air from a multi-ply layup ofsheet material on the cutting table to compress and rigidize the layupfor cutting.
 12. In combination in an automatically controlled cuttingmachine having a cutting blade which translates relative to sheetmaterial in a spread condition, the cutting machine includingdisplacement means for guiding the cutting blade in cutting engagementwith the material along a predefined line of cut and means for orientingthe cutting blade about an axis generally perpendicular to the sheetmaterial at each point along the line of cut, the improvementcomprising:detecting means for producing information defining blade sideloads generated by the interaction of the cutting blade and the sheetmaterial as the blade is guided along the line of cut by thedisplacement means; and reacting means responsive to the detectedcutting information and generating blade orientation signals inaccordance with the detected information, and applying the orientationsignals to the orienting means to reduce blade side loads.
 13. Thecombination of claim 12 in an automatically controlled cutting machinehaving a cutting blade with a cutting edge and a blade sharpener forsharpening the cutting edge of the blade wherein the detecting meanscomprises a sensor producing an output indicative of the condition ofthe cutting edge of the blade; and the reacting means comprises acontrol regulating the operation of the blade sharpener and responsiveto the output of the sensor to control initiation of a sharpeningoperation.
 14. The combination of claim 12 wherein the detecting meanscomprises a load sensor measuring forces generated between the sheetmaterial and the cutting blade.
 15. An automatically controlled cuttingmachine for cutting limp sheet material with a closed loop controlcomprising:a reciprocated cutting blade; a cutting table having a bedfor supporting the limp sheet material in a spread condition duringcutting; vacuum means associated with the sheet material spread on thebed of the cutting table for rigidizing the limp material duringcutting; sensing means cooperatively connected with the cutting bladefor detecting a cutting load parameter affected by the interaction ofthe blade and the rigidized material during cutting; and closed loopcontrol means connected with the sensing means and responsive to thesensed cutting load parameter for controlling the cutting blade inaccordance with cutting conditions manifested by the sensed parameter asthe material is cut.
 16. An automatically controlled cutting machine forcutting sheet material as defined in claim 15 wherein the cutting tablehas a penetrable bed penetrated by the reciprocated cutting blade duringcutting.
 17. An automatically controlled cutting machine as defined inclaim 16 wherein the vacuum means is connected with the penetrable bedof the cutting table for evacuating air from the sheet material throughthe bed.
 18. The combination of claim 12 wherein:the automaticallycontrolled cutting machine includes programmed cutting control means forgenerating fundamental machine command signals including bladeorientation signals for guiding the cutting blade tangentially along thepredefined cutting path; the detecting means provides feedback signalsrepresentative of blade side loads; and the reacting means receives thefeedback signals and produces supplemental blade orientation signalswhich modify the fundamental orientation signals and orientation of thecutting blade.
 19. The combination of claim 18 wherein the programmedcutting control means in the automatically controlled cutting machineincludes in addition to the cutting program producing fundamentalcommand signals another program having a fixed schedule of supplementalblade orientation commands that are combined with the fundamentalcommands whereby the cutting blade is guided in cutting engagement withthe sheet material by the combination; and the reacting means receivingthe feedback signals cooperates with the program of supplementalcommands and generates supplemental commands from the fixed schedule inaccordance with the feedback signals received.
 20. An automaticallycontrolled cutting machine for cutting limp sheet material comprising:athin cutting blade having a sharp leading cutting edge which is advancedin cutting engagement with the sheet material and a trailing edge spacedfrom and generally parallel to the leading edge; a support tabledefining a surface on which the limp sheet material is laid in a spreadcondition; translating means for advancing the cutting blade and thesheet material relative to one another in cutting engagement with thesharp leading cutting edge of the blade extending generallyperpendicular to the support surface of the table; orientation means forrotating the cutting blade and a sheet material relative to one anotherabout an axis generally perpendicular to the surface of the table;sensing means operatively associated with the cutting blade fordetecting unbalanced lateral blade loading and the corresponding bladedeflection away from the axis perpendicular to the cutting table; andfeedback control means connected with and responsive to the sensingmeans and also connected in controlling relationship with theorientation means to rotate the leading cutting edge of the blade aboutthe perpendicular axis and toward the side of the blade having thehigher loading in response to detected blade deflection and therebyreduce blade deflection.
 21. An automatically controlled cutting machineas defined in claim 20 wherein: the sensing means also detectsfore-and-aft blade deflection; and the feedback control means isconnected with the translating means to reduce the feed rate of thecutting blade and sheet material relative to one another in response tothe detected fore-and-aft deflection.
 22. An automatically controlledcutting machine as defined in claim 20 wherein: the cutting blade is areciprocated cutting blade.
 23. An automatically controlled cuttingmachine as defined in claim 20 wherein the sensing means comprises ablade position sensor.